emgucv 抠图[通俗易懂]

大家好，又见面了，我是你们的朋友全栈君。

我的环境的KinectSDK2.0+EmguCV3.0.0

依旧还是WinFrom和ImageBox

因为需要用到BodyIndex的数据，但BodyIndex的分辨率和RGB图像的分辨率不同，所以需要用的CoordinateMap类中的坐标转换函数。

代码和注释如下：

[csharp] view plain copy print ?

1. using System;
2. using System.Collections.Generic;
3. using System.ComponentModel;
4. using System.Data;
5. using System.Drawing;
6. using System.Linq;
7. using System.Text;
8. using System.Windows.Forms;
9. using Microsoft.Kinect;
10. using Emgu.CV;
11. using Emgu.CV.Structure;
12. using Emgu.Util;
14. namespace Kinect_koutu_2
15. {
16. public partial class Form1 : Form
17. {
18. KinectSensor kinect = null;
19. MultiSourceFrameReader framereader = null;
20. FrameDescription fd = null;
21. FrameDescription cfd = null;
22. CoordinateMapper coordinate = null;
23. Image<Bgra, byte> colorimg = null;
24. DepthSpacePoint[] colorMappedToDepthPoints = null;
25. byte[] colordata = null;
26. public Form1()
27. {
28. InitializeComponent();
29. CvInvoke.UseOpenCL = true;
30. kinect = KinectSensor.GetDefault();
31. coordinate = kinect.CoordinateMapper;
32. framereader = kinect.OpenMultiSourceFrameReader(FrameSourceTypes.Depth | FrameSourceTypes.Color | FrameSourceTypes.BodyIndex);
33. framereader.MultiSourceFrameArrived += Framereader_MultiSourceFrameArrived;
34. fd = kinect.BodyIndexFrameSource.FrameDescription;
35. cfd = kinect.ColorFrameSource.FrameDescription;
36. colorMappedToDepthPoints = new DepthSpacePoint[cfd.Width * cfd.Height];
37. colorimg = new Image<Bgra, byte>(cfd.Width, cfd.Height);
38. colordata = new byte[colorimg.Bytes.Count<byte>()];
39. kinect.Open();
40. }
41. private void Framereader_MultiSourceFrameArrived(object sender, MultiSourceFrameArrivedEventArgs e)
42. {
43. MultiSourceFrame multiSourceFrame = e.FrameReference.AcquireFrame();
44. if (multiSourceFrame == null)
45. return;
46. ColorFrame cFrame = multiSourceFrame.ColorFrameReference.AcquireFrame();
47. BodyIndexFrame bframe = multiSourceFrame.BodyIndexFrameReference.AcquireFrame();
48. DepthFrame dframe = multiSourceFrame.DepthFrameReference.AcquireFrame();
49. if (dframe == null || bframe == null || cFrame == null)
50. {
51. Console.WriteLine(“null”);
52. return;
53. }
54. cFrame.CopyConvertedFrameDataToArray(colordata, ColorImageFormat.Bgra);
55. //colorimg.Bytes = colordata;
56. //imageBox1.Image = colorimg;
57. using (KinectBuffer dB = dframe.LockImageBuffer())
58. {
59. coordinate.MapColorFrameToDepthSpaceUsingIntPtr(dB.UnderlyingBuffer, dB.Size, colorMappedToDepthPoints); //坐标转换并储存到数组
60. }
62. using (KinectBuffer kB = bframe.LockImageBuffer())
63. {
64. ProcessBodyIndexFrameData(kB.UnderlyingBuffer);
65. colorimg.Bytes = colordata;
66. imageBox1.Image = colorimg;
67. }
69. dframe.Dispose();
70. cFrame.Dispose();
71. bframe.Dispose();
72. }
74. private unsafe void ProcessBodyIndexFrameData(IntPtr bodyIndexFrameData)
75. {
76. byte* frameData = (byte*)bodyIndexFrameData;
77. int colorMappedToDepthPointCount = this.colorMappedToDepthPoints.Length;
78. fixed (DepthSpacePoint* colorMappedToDepthPointsPointer = this.colorMappedToDepthPoints)
79. {
80. for (int i = 0; i < colorMappedToDepthPointCount; ++i)
81. {
82. float colorMappedToDepthX = colorMappedToDepthPointsPointer[i].X;
83. float colorMappedToDepthY = colorMappedToDepthPointsPointer[i].Y;
84. int depthX = (int)(colorMappedToDepthX + 0.5f); //colorimage的像素点的位置在景深图的对应位置
85. int depthY = (int)(colorMappedToDepthY + 0.5f);
86. if ((depthX >= 0) && (depthX < 512) && (depthY >= 0) && (depthY < 424))
87. {
88. int depthIndex = (depthY * 512) + depthX;
89. if (frameData[depthIndex] ==255) //在检测范围内frameData[depthIndex] !=255 为检测到人的像素点，不予以操作，并将其他像素点设置为黑色
90. {
91. colordata[i * 4] = 0;
92. colordata[i * 4 + 1] = 0;
93. colordata[i * 4 + 2] = 0;
94. colordata[i * 4 + 3] = 255;
95. }
96. }
97. else
98. {
99. colordata[i * 4] = 0;
100. colordata[i * 4 + 1] = 0;
101. colordata[i * 4 + 2] = 0;
102. colordata[i * 4 + 3] = 255;
103. }
104. }
105. }
106. }
108. private void Form1_FormClosing(object sender, FormClosingEventArgs e)
109. {
110. if (this.kinect != null)
111. {
112. this.kinect.Close();
113. this.kinect = null;
114. }
115. }
116. }
117. }

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